Controlling a path-tracking unmanned ground vehicle with a field-programmable analog array

Unmanned ground vehicle (UGV) path-tracking has been an important topic in mechatronics real-time applications. This paper describes and compares the implementation and performance of path-tracking unmanned ground vehicle using a field programmable analog array (FPAA) and conventional digital microcontroller. The FPAA AN10E40 is a general-purpose, digitally reconfigurable analog signal-processing chip. Its current commercial applications center on signal conditioning and base-band analog signal processing and rapid prototyping. This paper shows that the AN10E40 can also readily implement a control system for a path-tracking UGV. Using PI control for the path tracking, the FPAA controlled UGV made about 38% fewer tracking error with 22% faster traveling speed than the digital microcontroller (MC68HC11) controlled UGV due to the fast processing time of the FPAA. The results indicate the great potential of using FPAA for real-time control in mechatronics systems